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https://github.com/introlab/rtabmap_ros.git
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moved rtabmap-ros-pkg project in this project
git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@52 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
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/*
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* Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
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*
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* This file is part of RTAB-Map.
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*
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* RTAB-Map is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* RTAB-Map is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with RTAB-Map. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef MEMORY_H_
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#define MEMORY_H_
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#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
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#include "utilite/UEventsHandler.h"
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#include "rtabmap/core/Parameters.h"
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#include "utilite/UVariant.h"
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#include <typeinfo>
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#include <list>
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#include <map>
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#include <set>
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#include "utilite/UStl.h"
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#include <opencv2/core/core.hpp>
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namespace rtabmap {
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class Signature;
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class DBDriver;
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class Node;
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class SMState;
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class RTABMAP_EXP Memory
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{
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public:
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static const int kIdStart;
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static const int kIdVirtual;
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static const int kIdInvalid;
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enum MergingStrategy{kFullMerging, kUseOnlyFromMerging, kUseOnlyDestMerging};
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public:
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Memory(const ParametersMap & parameters = ParametersMap());
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virtual ~Memory();
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virtual void parseParameters(const ParametersMap & parameters);
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bool update(const SMState * rawData, std::list<std::pair<std::string, float> > & stats);
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virtual bool init(const std::string & dbDriverName, const std::string & dbUrl, bool dbOverwritten = false, const ParametersMap & parameters = ParametersMap());
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virtual std::map<int, float> computeLikelihood(const Signature * signature, const std::set<int> & signatureIds = std::set<int>()) const;
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virtual int forget(const std::list<int> & ignoredIds = std::list<int>());
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virtual int reactivateSignatures(const std::list<int> & ids, unsigned int maxLoaded, unsigned int maxTouched);
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int cleanup(const std::list<int> & ignoredIds = std::list<int>());
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void emptyTrash();
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void joinTrashThread();
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void addLoopClosureLink(int oldId, int newId, bool rehearsal = false);
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void getNeighborsId(std::map<int,int> & ids, int signatureId, unsigned int margin, bool checkInDatabase = true, int ignoredId = 0) const;
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//getters
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unsigned int getWorkingMemSize() const {return _workingMem.size();}
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unsigned int getStMemSize() const {return _stMem.size();};
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const std::map<int, int> & getWorkingMem() const {return _workingMem;}
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const std::set<int> & getStMem() const {return _stMem;}
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std::list<int> getChildrenIds(int signatureId) const;
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bool isRawDataKept() const {return _rawDataKept;}
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std::map<int, int> getWeights() const;
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int getWeight(int id) const;
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float getSimilarityOnlyLast() const {return _similarityOnlyLast;}
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const Signature * getLastSignature() const;
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int getDatabaseMemoryUsed() const; // in bytes
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double getDbSavingTime() const;
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IplImage * getImage(int id) const;
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bool isDatabaseCleaned() const {return _databaseCleaned;}
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bool isCommonSignatureUsed() const {return _commonSignatureUsed;}
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std::set<int> getAllSignatureIds() const;
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bool memoryChanged() const {return _memoryChanged;}
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const Signature * getSignature(int id) const;
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bool isInSTM(int signatureId) const {return _stMem.find(signatureId) != _stMem.end();}
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bool isInWM(int signatureId) const {return _workingMem.find(signatureId) != _workingMem.end();}
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bool isInLTM(int signatureId) const {return !this->isInSTM(signatureId) && !this->isInWM(signatureId);}
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//setters
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void setSimilarityThreshold(float similarityThreshold);
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void setSimilarityOnlyLast(int similarityOnlyLast) {_similarityOnlyLast = similarityOnlyLast;}
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void setOldSignatureRatio(float oldSignatureRatio);
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void setMaxStMemSize(unsigned int maxStMemSize);
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void setDelayRequired(int delayRequired);
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void setRecentWmRatio(float recentWmRatio);
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void setCommonSignatureUsed(bool commonSignatureUsed);
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void setRawDataKept(bool rawDataKept) {_rawDataKept = rawDataKept;}
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void dumpMemoryTree(const char * fileNameTree) const;
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virtual void dumpMemory(std::string directory) const;
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virtual void dumpSignatures(const char * fileNameSign) const {}
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void generateGraph(const std::string & fileName, std::set<int> ids = std::set<int>());
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void cleanLocalGraph(int id, unsigned int margin);
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void cleanLTM(int maxDepth = 10);
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void createGraph(Node * parent, unsigned int maxDepth, const std::set<int> & endIds = std::set<int>());
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protected:
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virtual void preUpdate();
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virtual void postUpdate() {}
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virtual void merge(const Signature * from, Signature * to, MergingStrategy s) = 0;
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virtual void addSignatureToStm(Signature * signature, const std::list<std::vector<float> > & actions = std::list<std::vector<float> >());
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virtual void clear();
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virtual void moveToTrash(Signature * s);
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virtual Signature * getSignatureLtMem(int id);
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void addSignatureToWm(Signature * signature);
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Signature * _getSignature(int id) const;
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Signature * _getLastSignature();
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Signature * getRemovableSignature(const std::list<int> & ignoredIds = std::list<int>(), bool onlyLoopedSignatures = false);
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int getNextId();
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void initCountId();
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int rehearsal(const Signature * signature, bool onlyLast, float & similarity);
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void touch(int signatureId);
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const std::map<int, Signature*> & getSignatures() const {return _signatures;}
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private:
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void createVirtualSignature(Signature ** signature);
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virtual Signature * createSignature(int id, const SMState * rawData, bool keepRawData=false) = 0;
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void cleanGraph(const Node * root);
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protected:
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DBDriver * _dbDriver;
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private:
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float _similarityThreshold;
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bool _similarityOnlyLast;
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bool _rawDataKept;
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int _idCount;
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Signature * _lastSignature;
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int _lastLoopClosureId;
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bool _incrementalMemory;
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unsigned int _maxStMemSize;
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bool _commonSignatureUsed;
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bool _databaseCleaned; //if true, delete old signatures in the database
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int _delayRequired;
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float _recentWmRatio;
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bool _memoryChanged; // False by default, become true when Memory::update() is called.
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bool _merging;
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int _signaturesAdded;
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std::map<int, Signature *> _signatures; // TODO : check if a signature is already added? although it is not supposed to occur...
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std::set<int> _stMem;
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std::map<int, int> _workingMem; // id, timeStamp
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};
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} // namespace rtabmap
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#endif /* MEMORY_H_ */
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